[SofaCUDA] Apply new factory registration mechanism

[hugtalbot]

Closes Refactor object registration

This should be the last PR related to #4429 😅

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• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).

[hugtalbot]

[ci-build]